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<div class="title">ActuatorModel.h</div>  </div>
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<a href="../../db/dbb/_actuator_model_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef PROJECT_ACTUATORMODEL_H</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define PROJECT_ACTUATORMODEL_H</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../de/df0/utilities_8h.html">Utilities/utilities.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="../../d9/dec/class_actuator_model.html">   16</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d9/dec/class_actuator_model.html">ActuatorModel</a> {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="../../d9/dec/class_actuator_model.html#acba61cb15e78c729a95a72ade3864a0f">   18</a></span>&#160;  <a class="code" href="../../d9/dec/class_actuator_model.html#acba61cb15e78c729a95a72ade3864a0f">ActuatorModel</a>(T gearRatio, T motorKT, T motorR, T batteryV, T damping,</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;                T dryFriction, T tauMax)</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      : <a class="code" href="../../d9/dec/class_actuator_model.html#ae6b993ec89c4db7cea073fca843d0f8e">_gr</a>(gearRatio),</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;        <a class="code" href="../../d9/dec/class_actuator_model.html#a8f33b8a2ffa6060ec5024c15438dcbb7">_kt</a>(motorKT),</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        <a class="code" href="../../d9/dec/class_actuator_model.html#a5925b0dc54fbb411a657bd0c46930307">_R</a>(motorR),</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        <a class="code" href="../../d9/dec/class_actuator_model.html#a7e1658a9b48d1faa6145939ef09ed74f">_V</a>(batteryV),</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;        <a class="code" href="../../d9/dec/class_actuator_model.html#ab3d2a0536dfc58873e5657ba9b8610ab">_damping</a>(damping),</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        <a class="code" href="../../d9/dec/class_actuator_model.html#a3c382b6bd6902f3719cab1702eb752fc">_dryFriction</a>(dryFriction),</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        <a class="code" href="../../d9/dec/class_actuator_model.html#ae3f458b5e9c50481a8b72a87ccaeba2b">_tauMax</a>(tauMax) {}</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../d9/dec/class_actuator_model.html#a9d8f8b8a7fe7162172db17c94fc48cb8">   28</a></span>&#160;  <a class="code" href="../../d9/dec/class_actuator_model.html#a9d8f8b8a7fe7162172db17c94fc48cb8">ActuatorModel</a>() {}</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="comment">// compute actual actuator torque, given desired torque and speed.</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="comment">// takes into account friction (dry and damping), voltage limits, and torque</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="comment">// limits</span></div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="../../d9/dec/class_actuator_model.html#a4636ef2d74cba1302f99f973f1701318">   33</a></span>&#160;  T <a class="code" href="../../d9/dec/class_actuator_model.html#a4636ef2d74cba1302f99f973f1701318">getTorque</a>(T tauDes, T qd) {</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="comment">// compute motor torque</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    T tauDesMotor = tauDes / <a class="code" href="../../d9/dec/class_actuator_model.html#ae6b993ec89c4db7cea073fca843d0f8e">_gr</a>;        <span class="comment">// motor torque</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    T iDes = tauDesMotor / (<a class="code" href="../../d9/dec/class_actuator_model.html#a8f33b8a2ffa6060ec5024c15438dcbb7">_kt</a> * 1.5);  <span class="comment">// i = tau / KT</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="comment">// T bemf =  qd * _gr * _kt * 1.732;     // back emf</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    T bemf = qd * <a class="code" href="../../d9/dec/class_actuator_model.html#ae6b993ec89c4db7cea073fca843d0f8e">_gr</a> * <a class="code" href="../../d9/dec/class_actuator_model.html#a8f33b8a2ffa6060ec5024c15438dcbb7">_kt</a> * 2.;       <span class="comment">// back emf</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    T vDes = iDes * <a class="code" href="../../d9/dec/class_actuator_model.html#a5925b0dc54fbb411a657bd0c46930307">_R</a> + bemf;          <span class="comment">// v = I*R + emf</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    T vActual = <a class="code" href="../../de/df0/utilities_8h.html#a0aa540668aefb3f931f06b9af3b7098c">coerce</a>(vDes, -<a class="code" href="../../d9/dec/class_actuator_model.html#a7e1658a9b48d1faa6145939ef09ed74f">_V</a>, <a class="code" href="../../d9/dec/class_actuator_model.html#a7e1658a9b48d1faa6145939ef09ed74f">_V</a>);  <span class="comment">// limit to battery voltage</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    T tauActMotor =</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        1.5 * <a class="code" href="../../d9/dec/class_actuator_model.html#a8f33b8a2ffa6060ec5024c15438dcbb7">_kt</a> * (vActual - bemf) / <a class="code" href="../../d9/dec/class_actuator_model.html#a5925b0dc54fbb411a657bd0c46930307">_R</a>;  <span class="comment">// tau = Kt * I = Kt * V / R</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    T tauAct = <a class="code" href="../../d9/dec/class_actuator_model.html#ae6b993ec89c4db7cea073fca843d0f8e">_gr</a> * <a class="code" href="../../de/df0/utilities_8h.html#a0aa540668aefb3f931f06b9af3b7098c">coerce</a>(tauActMotor, -<a class="code" href="../../d9/dec/class_actuator_model.html#ae3f458b5e9c50481a8b72a87ccaeba2b">_tauMax</a>, <a class="code" href="../../d9/dec/class_actuator_model.html#ae3f458b5e9c50481a8b72a87ccaeba2b">_tauMax</a>);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="comment">// add damping and dry friction</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="../../d9/dec/class_actuator_model.html#a218c342d03502041bc4efee3ae0e49dd">_frictionEnabled</a>)</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      tauAct = tauAct - <a class="code" href="../../d9/dec/class_actuator_model.html#ab3d2a0536dfc58873e5657ba9b8610ab">_damping</a> * qd - <a class="code" href="../../d9/dec/class_actuator_model.html#a3c382b6bd6902f3719cab1702eb752fc">_dryFriction</a> * <a class="code" href="../../de/df0/utilities_8h.html#a1ab31b90bc584c635ec159468ceed9b2">sgn</a>(qd);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">return</span> tauAct;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  }</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="../../d9/dec/class_actuator_model.html#aa3f33084af70946834880bc216aec5d3">   52</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d9/dec/class_actuator_model.html#aa3f33084af70946834880bc216aec5d3">setFriction</a>(<span class="keywordtype">bool</span> enabled) { <a class="code" href="../../d9/dec/class_actuator_model.html#a218c342d03502041bc4efee3ae0e49dd">_frictionEnabled</a> = enabled; }</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="../../d9/dec/class_actuator_model.html#a7e1658a9b48d1faa6145939ef09ed74f">   55</a></span>&#160;  T <a class="code" href="../../d9/dec/class_actuator_model.html#ae6b993ec89c4db7cea073fca843d0f8e">_gr</a>, <a class="code" href="../../d9/dec/class_actuator_model.html#a8f33b8a2ffa6060ec5024c15438dcbb7">_kt</a>, <a class="code" href="../../d9/dec/class_actuator_model.html#a5925b0dc54fbb411a657bd0c46930307">_R</a>, <a class="code" href="../../d9/dec/class_actuator_model.html#a7e1658a9b48d1faa6145939ef09ed74f">_V</a>, <a class="code" href="../../d9/dec/class_actuator_model.html#ab3d2a0536dfc58873e5657ba9b8610ab">_damping</a>, <a class="code" href="../../d9/dec/class_actuator_model.html#a3c382b6bd6902f3719cab1702eb752fc">_dryFriction</a>, <a class="code" href="../../d9/dec/class_actuator_model.html#ae3f458b5e9c50481a8b72a87ccaeba2b">_tauMax</a>;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="../../d9/dec/class_actuator_model.html#a218c342d03502041bc4efee3ae0e49dd">   56</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../d9/dec/class_actuator_model.html#a218c342d03502041bc4efee3ae0e49dd">_frictionEnabled</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;};</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#endif  // PROJECT_ACTUATORMODEL_H</span></div><div class="ttc" id="class_actuator_model_html_ae3f458b5e9c50481a8b72a87ccaeba2b"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#ae3f458b5e9c50481a8b72a87ccaeba2b">ActuatorModel::_tauMax</a></div><div class="ttdeci">T _tauMax</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00055">ActuatorModel.h:55</a></div></div>
<div class="ttc" id="class_actuator_model_html_a4636ef2d74cba1302f99f973f1701318"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#a4636ef2d74cba1302f99f973f1701318">ActuatorModel::getTorque</a></div><div class="ttdeci">T getTorque(T tauDes, T qd)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00033">ActuatorModel.h:33</a></div></div>
<div class="ttc" id="utilities_8h_html"><div class="ttname"><a href="../../de/df0/utilities_8h.html">utilities.h</a></div></div>
<div class="ttc" id="class_actuator_model_html_a218c342d03502041bc4efee3ae0e49dd"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#a218c342d03502041bc4efee3ae0e49dd">ActuatorModel::_frictionEnabled</a></div><div class="ttdeci">bool _frictionEnabled</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00056">ActuatorModel.h:56</a></div></div>
<div class="ttc" id="class_actuator_model_html_a3c382b6bd6902f3719cab1702eb752fc"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#a3c382b6bd6902f3719cab1702eb752fc">ActuatorModel::_dryFriction</a></div><div class="ttdeci">T _dryFriction</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00055">ActuatorModel.h:55</a></div></div>
<div class="ttc" id="class_actuator_model_html"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html">ActuatorModel</a></div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00016">ActuatorModel.h:16</a></div></div>
<div class="ttc" id="utilities_8h_html_a0aa540668aefb3f931f06b9af3b7098c"><div class="ttname"><a href="../../de/df0/utilities_8h.html#a0aa540668aefb3f931f06b9af3b7098c">coerce</a></div><div class="ttdeci">T coerce(T in, T min, T max)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00035">utilities.h:35</a></div></div>
<div class="ttc" id="class_actuator_model_html_a7e1658a9b48d1faa6145939ef09ed74f"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#a7e1658a9b48d1faa6145939ef09ed74f">ActuatorModel::_V</a></div><div class="ttdeci">T _V</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00055">ActuatorModel.h:55</a></div></div>
<div class="ttc" id="class_actuator_model_html_a9d8f8b8a7fe7162172db17c94fc48cb8"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#a9d8f8b8a7fe7162172db17c94fc48cb8">ActuatorModel::ActuatorModel</a></div><div class="ttdeci">ActuatorModel()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00028">ActuatorModel.h:28</a></div></div>
<div class="ttc" id="class_actuator_model_html_a8f33b8a2ffa6060ec5024c15438dcbb7"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#a8f33b8a2ffa6060ec5024c15438dcbb7">ActuatorModel::_kt</a></div><div class="ttdeci">T _kt</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00055">ActuatorModel.h:55</a></div></div>
<div class="ttc" id="utilities_8h_html_a1ab31b90bc584c635ec159468ceed9b2"><div class="ttname"><a href="../../de/df0/utilities_8h.html#a1ab31b90bc584c635ec159468ceed9b2">sgn</a></div><div class="ttdeci">int sgn(T val)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00065">utilities.h:65</a></div></div>
<div class="ttc" id="class_actuator_model_html_a5925b0dc54fbb411a657bd0c46930307"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#a5925b0dc54fbb411a657bd0c46930307">ActuatorModel::_R</a></div><div class="ttdeci">T _R</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00055">ActuatorModel.h:55</a></div></div>
<div class="ttc" id="class_actuator_model_html_ae6b993ec89c4db7cea073fca843d0f8e"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#ae6b993ec89c4db7cea073fca843d0f8e">ActuatorModel::_gr</a></div><div class="ttdeci">T _gr</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00055">ActuatorModel.h:55</a></div></div>
<div class="ttc" id="class_actuator_model_html_acba61cb15e78c729a95a72ade3864a0f"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#acba61cb15e78c729a95a72ade3864a0f">ActuatorModel::ActuatorModel</a></div><div class="ttdeci">ActuatorModel(T gearRatio, T motorKT, T motorR, T batteryV, T damping, T dryFriction, T tauMax)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00018">ActuatorModel.h:18</a></div></div>
<div class="ttc" id="class_actuator_model_html_aa3f33084af70946834880bc216aec5d3"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#aa3f33084af70946834880bc216aec5d3">ActuatorModel::setFriction</a></div><div class="ttdeci">void setFriction(bool enabled)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00052">ActuatorModel.h:52</a></div></div>
<div class="ttc" id="class_actuator_model_html_ab3d2a0536dfc58873e5657ba9b8610ab"><div class="ttname"><a href="../../d9/dec/class_actuator_model.html#ab3d2a0536dfc58873e5657ba9b8610ab">ActuatorModel::_damping</a></div><div class="ttdeci">T _damping</div><div class="ttdef"><b>Definition:</b> <a href="../../db/dbb/_actuator_model_8h_source.html#l00055">ActuatorModel.h:55</a></div></div>
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